#include "usart.h"
#include "altitude.h"
#include "filter.h"
#include "imu.h"
#include "delay.h"
#include "structconfig.h"
#include "ADRC.h"

extern ADRC_Data Opt_Fi;
extern INT16_XYZ Opt_Data;
extern FLOAT_XYZ Opt_V_Filter,Opt_V_Filter_1,Gyr_Filt,Opt_Gyr,Opt_V,Opt_V_Fil,Opt_a,Opt_Position,Position,Opt_V_Differ,Opt_V_Dif,a_Dif;
extern u8 Optflow_Date;
extern int16_t OptFlow_X,OptFlow_Y;
extern float Opt_Gyr_X,Opt_Gyr_Y,Gyr_Filter_X,Gyr_Filter_Y,OptFlow_V_X,OptFlow_V_Y,V_X,V_Y,OptFlow_Position_X,OptFlow_Position_Y,Position_X,Position_Y,V_X_Filter,V_Y_Filter;

void OptFlow_Init(void);
void OptFlow_LC306(u8 usartdate);
void OptFlow_Read(void);


